中文说明：
利用matlab数值计算的强大功能和，建模容易实现的特点进行了捷联式惯性导航系统的仿真研究，对四元数及姿态矩阵等的解算采用编程实现"陀螺仪和加速计的建模用。
English Description：
The simulation of strapdown inertial navigation system is carried out by using the powerful function of MATLAB numerical calculation and the characteristics of easy modeling. The quaternion and attitude matrix are solved by programming; For modeling gyroscopes and accelerometers